Existence and stability of limit cycles in the model of a planar passive biped walking down a slope

DOI10.1098/RSPA.2019.0450zbMATH Open1472.34062arXiv1904.00517OpenAlexW2999965710WikidataQ89819526 ScholiaQ89819526MaRDI QIDQ5160845FDOQ5160845

Authors: Oleg Makarenkov 

Publication date: 29 October 2021

Published in: Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences (Search for Journal in Brave)

Abstract: We consider the simplest model of a passive biped walking down a slope given by the equations of switched coupled pendula (McGeer, 1990). Following the fundamental work by Garcia et al (1998), we view the slope of the ground as a small parameter $gammage0$. When $gamma=0$ the system can be solved in closed form and the existence of a family of limit cycles (i.e. potential walking cycles) can be established explicitly. As observed in Garcia et al (1998), the family of limit cycles disappears when $gamma$ increases and only isolated asymptotically stable cycles (walking cycles) persist. However, no rigorous proofs of such a bifurcation (often referred to as Melnikov bifurcation) have ever been reported. The present paper fills in this gap in the field and offers the required proof.

Full work available at URL: https://arxiv.org/abs/1904.00517

Recommendations

• New walking dynamics in the simplest passive bipedal walking model
• New bifurcations in the simplest passive walking model
• A different switching surface stabilizing an existing unstable periodic gait: an analysis based on perturbation theory
• A passive-biped model with multiple routes to chaos
• Revisiting the stability of 2D passive biped walking: local behavior

zbMATH Keywords

limit cycleswitched systemapplied mathematicspassive planar bipedperturbation theory for maps

Mathematics Subject Classification ID

Discontinuous ordinary differential equations (34A36) Topological structure of integral curves, singular points, limit cycles of ordinary differential equations (34C05) Bifurcation theory for ordinary differential equations (34C23) Perturbations of ordinary differential equations (34D10) Fixed points and periodic points of dynamical systems; fixed-point index theory; local dynamics (37C25) Stability problems in rigid body dynamics (70E50)

Cites Work

• Mathematical analysis II. Transl. from the 4th Russian edition by Roger Cooke
• Nonlinear oscillations, dynamical systems, and bifurcations of vector fields
• Existence and stability of large scale nonlinear oscillations in suspension bridges
• Periodic solutions of nonlinear periodic differential systems with a small parameter
• Stability analysis of systems with impulse effects
• On detachment conditions in the problem on the motion of a rigid body on a rough plane
• An alternative approach to study bifurcation from a limit cycle in periodically perturbed autonomous systems
• Lyapunov-Schmidt reductions and Melnikov integrals for bifurcation of periodic solutions in coupled oscillators
• An alternative stability analysis technique for the simplest walker
• New walking dynamics in the simplest passive bipedal walking model
• Revisiting the stability of 2D passive biped walking: local behavior
• Passive dynamic of the simplest walking model: replacing ramps with stairs
• Bifurcation and chaos in the simple passive dynamic walking model with upper body
• Periodic solutions of a perturbed autonomous system
• Controlled symmetries and passive walking
• Time Optimal Swing-Up of the Planar Pendulum
• Asymptotic Stability of Periodic Solutions for Nonsmooth Differential Equations with Application to the Nonsmooth van der Pol Oscillator
• Formation mechanism of a basin of attraction for passive dynamic walking induced by intrinsic hyperbolicity
• On the continuation of periodic orbits
• Asymptotic stability of forced oscillations emanating from a limit cycle
• Lyapunov based estimation of the basin of attraction of Poincaré maps with applications to limit cycle walking
• Motions of a rimless spoked wheel: a simple three-dimensional system with impacts
• Painlevé's paradox and dynamic jamming in simple models of passive dynamic walking
• Title not available (Why is that?)
• A novel approach to suppression of oscillations
• Linear algebra. Theory and applications
• A new Poincaré map for investigating the complex walking behavior of the compass-gait biped robot
• On the design and synthesis of limit cycles using switching linear systems
• Painlevé paradox and dynamic self-locking during passive walking of bipedal robot

Cited In (12)

• Erratum to: ``Design of an explicit expression of the Poincaré map for the passive dynamic walking of the compass-gait biped model
• Lyapunov based estimation of the basin of attraction of Poincaré maps with applications to limit cycle walking
• Stabilization of the passive walking dynamics of the compass-gait biped robot by developing the analytical expression of the controlled Poincaré map
• A new Poincaré map for investigating the complex walking behavior of the compass-gait biped robot
• Self-excited periodic motion in underactuated mechanical systems using two-fuzzy inference system
• Walking dynamics of a semi-passive compass-like robot with impulse thrust
• A different switching surface stabilizing an existing unstable periodic gait: an analysis based on perturbation theory
• Existence and stability of a limit cycle in the model of a nonuniform rimless wheel rolling down a slope
• Stabilization of periodic sweeping processes and asymptotic average velocity for soft locomotors with dry friction
• Common formation mechanism of basin of attraction for bipedal walking models by saddle hyperbolicity and hybrid dynamics
• Revisiting the stability of 2D passive biped walking: local behavior
• Limit cycles for dynamic crawling locomotors with periodic prescribed shape

This page was built for publication: Existence and stability of limit cycles in the model of a planar passive biped walking down a slope

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q5160845)